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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p><code>#include &lt;<a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>&gt;</code></p>
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  <img id="dynsection-0-trigger" src="../../closed.png" alt="+"/> Inheritance diagram for Quadruped&lt; T &gt;:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ae3725898959888f0885981c43f127a07"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d66/class_quadruped.html#ae3725898959888f0885981c43f127a07">buildModel</a> ()</td></tr>
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<tr class="memitem:a324400f72ff1233e0ec4229e73d0eee2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d66/class_quadruped.html#a324400f72ff1233e0ec4229e73d0eee2">buildModel</a> (<a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt; &amp;model)</td></tr>
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<tr class="memitem:a44aa07cf91c50c3d0e78821ccc620ccc"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="../../d9/dec/class_actuator_model.html">ActuatorModel</a>&lt; T &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d66/class_quadruped.html#a44aa07cf91c50c3d0e78821ccc620ccc">buildActuatorModels</a> ()</td></tr>
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<tr class="memitem:a594bd8c71ee8f6c388501b4c463d26b2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d66/class_quadruped.html#a594bd8c71ee8f6c388501b4c463d26b2">getHipLocation</a> (int leg)</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a6e180d3c6ca3c3b5bb3121324441e2c4"><td class="memItemLeft" align="right" valign="top">static T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d66/class_quadruped.html#a6e180d3c6ca3c3b5bb3121324441e2c4">getSideSign</a> (int leg)</td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:a3a8d2b5f9c50bf5ca8280e63b2775097"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d66/class_quadruped.html#a3a8d2b5f9c50bf5ca8280e63b2775097">_robotType</a></td></tr>
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<tr class="memitem:a7995e099afb704e1f22b3383a22d19aa"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d66/class_quadruped.html#a7995e099afb704e1f22b3383a22d19aa">_bodyLength</a></td></tr>
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<tr class="memitem:af6be7b603041ee80e4d7752ffa064bbd"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d66/class_quadruped.html#af6be7b603041ee80e4d7752ffa064bbd">_jointDamping</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class Quadruped&lt; T &gt;</h3>

<p>Representation of a quadruped robot's physical properties.</p>
<p>When viewed from the top, the quadruped's legs are:</p>
<p>FRONT 2 1 RIGHT 4 3 BACK </p>

<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00056">56</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>
</div><h2 class="groupheader">Member Function Documentation</h2>
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template&lt;typename T &gt; </div>
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          <td class="memname">std::vector&lt; <a class="el" href="../../d9/dec/class_actuator_model.html">ActuatorModel</a>&lt; T &gt; &gt; <a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt; T &gt;::buildActuatorModels </td>
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<p>Definition at line <a class="el" href="../../da/dfc/_quadruped_8cpp_source.html#l00225">225</a> of file <a class="el" href="../../da/dfc/_quadruped_8cpp_source.html">Quadruped.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                                                              {</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  std::vector&lt;ActuatorModel&lt;T&gt;&gt; models;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  models.emplace_back(<a class="code" href="../../dc/d66/class_quadruped.html#af0eab931dddfe239a732e08a0e2007e3">_abadGearRatio</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a19aea08a578905fc52ce2f024d261d77">_motorKT</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a005ccebaf2721238edf5ab30bdca5f64">_motorR</a>, <a class="code" href="../../dc/d66/class_quadruped.html#af84ee6237093849b6e50661e96861ab6">_batteryV</a>,</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                      <a class="code" href="../../dc/d66/class_quadruped.html#af6be7b603041ee80e4d7752ffa064bbd">_jointDamping</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a037c40af4c63dc79aba96e6cb1427f82">_jointDryFriction</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a20f4b1eda8c92ed4eff51ef71d3a8c24">_motorTauMax</a>);</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  models.emplace_back(<a class="code" href="../../dc/d66/class_quadruped.html#ad7a3e625f34f90f2b6c11223ad6878f1">_hipGearRatio</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a19aea08a578905fc52ce2f024d261d77">_motorKT</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a005ccebaf2721238edf5ab30bdca5f64">_motorR</a>, <a class="code" href="../../dc/d66/class_quadruped.html#af84ee6237093849b6e50661e96861ab6">_batteryV</a>,</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                      <a class="code" href="../../dc/d66/class_quadruped.html#af6be7b603041ee80e4d7752ffa064bbd">_jointDamping</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a037c40af4c63dc79aba96e6cb1427f82">_jointDryFriction</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a20f4b1eda8c92ed4eff51ef71d3a8c24">_motorTauMax</a>);</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  models.emplace_back(<a class="code" href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">_kneeGearRatio</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a19aea08a578905fc52ce2f024d261d77">_motorKT</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a005ccebaf2721238edf5ab30bdca5f64">_motorR</a>, <a class="code" href="../../dc/d66/class_quadruped.html#af84ee6237093849b6e50661e96861ab6">_batteryV</a>,</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                      <a class="code" href="../../dc/d66/class_quadruped.html#af6be7b603041ee80e4d7752ffa064bbd">_jointDamping</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a037c40af4c63dc79aba96e6cb1427f82">_jointDryFriction</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a20f4b1eda8c92ed4eff51ef71d3a8c24">_motorTauMax</a>);</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordflow">return</span> models;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;}</div><div class="ttc" id="class_quadruped_html_af84ee6237093849b6e50661e96861ab6"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#af84ee6237093849b6e50661e96861ab6">Quadruped::_batteryV</a></div><div class="ttdeci">T _batteryV</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00063">Quadruped.h:63</a></div></div>
<div class="ttc" id="class_quadruped_html_af0eab931dddfe239a732e08a0e2007e3"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#af0eab931dddfe239a732e08a0e2007e3">Quadruped::_abadGearRatio</a></div><div class="ttdeci">T _abadGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="class_quadruped_html_a19aea08a578905fc52ce2f024d261d77"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a19aea08a578905fc52ce2f024d261d77">Quadruped::_motorKT</a></div><div class="ttdeci">T _motorKT</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00063">Quadruped.h:63</a></div></div>
<div class="ttc" id="class_quadruped_html_a005ccebaf2721238edf5ab30bdca5f64"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a005ccebaf2721238edf5ab30bdca5f64">Quadruped::_motorR</a></div><div class="ttdeci">T _motorR</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00063">Quadruped.h:63</a></div></div>
<div class="ttc" id="class_quadruped_html_af6be7b603041ee80e4d7752ffa064bbd"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#af6be7b603041ee80e4d7752ffa064bbd">Quadruped::_jointDamping</a></div><div class="ttdeci">T _jointDamping</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00065">Quadruped.h:65</a></div></div>
<div class="ttc" id="class_quadruped_html_ad7a3e625f34f90f2b6c11223ad6878f1"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#ad7a3e625f34f90f2b6c11223ad6878f1">Quadruped::_hipGearRatio</a></div><div class="ttdeci">T _hipGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="class_quadruped_html_aea326056e6c877eec1df1ef8564a1379"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">Quadruped::_kneeGearRatio</a></div><div class="ttdeci">T _kneeGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="class_quadruped_html_a037c40af4c63dc79aba96e6cb1427f82"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a037c40af4c63dc79aba96e6cb1427f82">Quadruped::_jointDryFriction</a></div><div class="ttdeci">T _jointDryFriction</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00065">Quadruped.h:65</a></div></div>
<div class="ttc" id="class_quadruped_html_a20f4b1eda8c92ed4eff51ef71d3a8c24"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a20f4b1eda8c92ed4eff51ef71d3a8c24">Quadruped::_motorTauMax</a></div><div class="ttdeci">T _motorTauMax</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00064">Quadruped.h:64</a></div></div>
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template&lt;typename T &gt; </div>
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          <td class="memname"><a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt; <a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt; T &gt;::buildModel </td>
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<p>Build a <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a> of the quadruped </p>

<p>Definition at line <a class="el" href="../../da/dfc/_quadruped_8cpp_source.html#l00113">113</a> of file <a class="el" href="../../da/dfc/_quadruped_8cpp_source.html">Quadruped.cpp</a>.</p>

<p>References <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00267">FloatingBaseModel&lt; T &gt;::addBase()</a>, <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00392">FloatingBaseModel&lt; T &gt;::addBody()</a>, <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00360">FloatingBaseModel&lt; T &gt;::addGroundContactBoxPoints()</a>, <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00319">FloatingBaseModel&lt; T &gt;::addGroundContactPoint()</a>, <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00140">spatial::createSXform()</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00171">FloatingBaseModel&lt; T &gt;::setGravity()</a>, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">ori::X</a>, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">ori::Y</a>, and <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">ori::Z</a>.</p>
<div class="fragment"><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                                              {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel&lt;T&gt;</a> model;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="comment">// we assume the cheetah&#39;s body (not including rotors) can be modeled as a</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="comment">// uniformly distributed box.</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> bodyDims(<a class="code" href="../../dc/d66/class_quadruped.html#a7995e099afb704e1f22b3383a22d19aa">_bodyLength</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">_bodyWidth</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a299025bd7dff225b4b8c49de160f5462">_bodyHeight</a>);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="comment">// model.addBase(_bodyMass, Vec3&lt;T&gt;(0,0,0), rotInertiaOfBox(_bodyMass,</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="comment">// bodyDims));</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#ab3dfc6605561bee26b4f7a893e44c78d">addBase</a>(<a class="code" href="../../dc/d66/class_quadruped.html#abf6f1fd5a7d18eee3ac046b3a4b25ca9">_bodyInertia</a>);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="comment">// add contact for the cheetah&#39;s body</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#aff2cddc3077b282fe3504ecd28bc08cb">addGroundContactBoxPoints</a>(5, bodyDims);</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> baseID = 5;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordtype">int</span> bodyID = baseID;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  T sideSign = -1;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> I3 = <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="comment">// loop over 4 legs</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> legID = 0; legID &lt; 4; legID++) {</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">// Ab/Ad joint</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="comment">//  int addBody(const SpatialInertia&lt;T&gt;&amp; inertia, const SpatialInertia&lt;T&gt;&amp;</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="comment">//  rotorInertia, T gearRatio,</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="comment">//              int parent, JointType jointType, CoordinateAxis jointAxis,</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="comment">//              const Mat6&lt;T&gt;&amp; Xtree, const Mat6&lt;T&gt;&amp; Xrot);</span></div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    bodyID++;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeAbad = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, withLegSigns&lt;T&gt;(<a class="code" href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">_abadLocation</a>, legID));</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeAbadRotor =</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, withLegSigns&lt;T&gt;(<a class="code" href="../../dc/d66/class_quadruped.html#abd6220626c711be53369e0126dc8fc2f">_abadRotorLocation</a>, legID));</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a950a254ac9c328d16179df350da2ad3a">_abadInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#a8f8b1c68a1b5f5ce0feaefd26c599b85">_abadRotorInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#af0eab931dddfe239a732e08a0e2007e3">_abadGearRatio</a>, baseID, JointType::Revolute,</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                    CoordinateAxis::X, xtreeAbad, xtreeAbadRotor);</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a950a254ac9c328d16179df350da2ad3a">_abadInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a8f8b1c68a1b5f5ce0feaefd26c599b85">_abadRotorInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#af0eab931dddfe239a732e08a0e2007e3">_abadGearRatio</a>, baseID,</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                    JointType::Revolute, CoordinateAxis::X, xtreeAbad,</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                    xtreeAbadRotor);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    }</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="comment">// Hip Joint</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    bodyID++;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeHip =</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(coordinateRotation&lt;T&gt;(CoordinateAxis::Z, T(M_PI)),</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                     withLegSigns&lt;T&gt;(<a class="code" href="../../dc/d66/class_quadruped.html#a044b85f13a9760daeab0b621058dc480">_hipLocation</a>, legID));</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeHipRotor =</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(coordinateRotation&lt;T&gt;(CoordinateAxis::Z, T(M_PI)),</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                     withLegSigns&lt;T&gt;(<a class="code" href="../../dc/d66/class_quadruped.html#a46ef06f23e658471e013c2b769376ff2">_hipRotorLocation</a>, legID));</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a3437c9695ff20d14849d05e6d4cd11c1">_hipInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#a13e1602042b4dbf584a66ac33d039ba1">_hipRotorInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#ad7a3e625f34f90f2b6c11223ad6878f1">_hipGearRatio</a>, bodyID - 1, JointType::Revolute,</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                    CoordinateAxis::Y, xtreeHip, xtreeHipRotor);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a3437c9695ff20d14849d05e6d4cd11c1">_hipInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a13e1602042b4dbf584a66ac33d039ba1">_hipRotorInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#ad7a3e625f34f90f2b6c11223ad6878f1">_hipGearRatio</a>, bodyID - 1,</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                    JointType::Revolute, CoordinateAxis::Y, xtreeHip,</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                    xtreeHipRotor);</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    }</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="comment">// add knee ground contact point</span></div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyID, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, 0, -<a class="code" href="../../dc/d66/class_quadruped.html#a2b1208249b4fa5e9dc3b08916fae04c7">_hipLinkLength</a>));</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="comment">// Knee Joint</span></div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    bodyID++;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeKnee = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, <a class="code" href="../../dc/d66/class_quadruped.html#ab4fd6842d2426e6c1d0658197ced7d18">_kneeLocation</a>);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeKneeRotor = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, <a class="code" href="../../dc/d66/class_quadruped.html#aee1c0e15f1c1e19ad0c07762f2969485">_kneeRotorLocation</a>);</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a0539ae075690ecbc6b281bf08cb34027">_kneeInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#a88e20574ef5d30111c3d893147c981ee">_kneeRotorInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">_kneeGearRatio</a>, bodyID - 1, JointType::Revolute,</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                    CoordinateAxis::Y, xtreeKnee, xtreeKneeRotor);</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a0539ae075690ecbc6b281bf08cb34027">_kneeInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a88e20574ef5d30111c3d893147c981ee">_kneeRotorInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">_kneeGearRatio</a>, bodyID - 1,</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                    JointType::Revolute, CoordinateAxis::Y, xtreeKnee,</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                    xtreeKneeRotor);</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    }</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="comment">// add foot</span></div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyID, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, 0, -<a class="code" href="../../dc/d66/class_quadruped.html#ae752ca0d75b7e1ae759c1285be62d068">_kneeLinkLength</a>), <span class="keyword">true</span>);</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    sideSign *= -1;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  }</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> g(0, 0, -9.81);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a32274ad578f7ad30bd79e786b62cdd62">setGravity</a>(g);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keywordflow">return</span> model;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;}</div><div class="ttc" id="class_quadruped_html_a2b1208249b4fa5e9dc3b08916fae04c7"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a2b1208249b4fa5e9dc3b08916fae04c7">Quadruped::_hipLinkLength</a></div><div class="ttdeci">T _hipLinkLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="class_quadruped_html_af0eab931dddfe239a732e08a0e2007e3"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#af0eab931dddfe239a732e08a0e2007e3">Quadruped::_abadGearRatio</a></div><div class="ttdeci">T _abadGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a3f2a319bbd26e5e7f91c7d3b980e28c4"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">FloatingBaseModel::addGroundContactPoint</a></div><div class="ttdeci">int addGroundContactPoint(int bodyID, const Vec3&lt; T &gt; &amp;location, bool isFoot=false)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00319">FloatingBaseModel.cpp:319</a></div></div>
<div class="ttc" id="class_quadruped_html_a8f8b1c68a1b5f5ce0feaefd26c599b85"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a8f8b1c68a1b5f5ce0feaefd26c599b85">Quadruped::_abadRotorInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _abadRotorInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a32274ad578f7ad30bd79e786b62cdd62"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a32274ad578f7ad30bd79e786b62cdd62">FloatingBaseModel::setGravity</a></div><div class="ttdeci">void setGravity(Vec3&lt; T &gt; &amp;g)</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00171">FloatingBaseModel.h:171</a></div></div>
<div class="ttc" id="class_quadruped_html_a7995e099afb704e1f22b3383a22d19aa"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a7995e099afb704e1f22b3383a22d19aa">Quadruped::_bodyLength</a></div><div class="ttdeci">T _bodyLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00060">Quadruped.h:60</a></div></div>
<div class="ttc" id="class_quadruped_html_ae752ca0d75b7e1ae759c1285be62d068"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#ae752ca0d75b7e1ae759c1285be62d068">Quadruped::_kneeLinkLength</a></div><div class="ttdeci">T _kneeLinkLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
<div class="ttc" id="class_quadruped_html_a46ef06f23e658471e013c2b769376ff2"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a46ef06f23e658471e013c2b769376ff2">Quadruped::_hipRotorLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _hipRotorLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_abd6220626c711be53369e0126dc8fc2f"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#abd6220626c711be53369e0126dc8fc2f">Quadruped::_abadRotorLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _abadRotorLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_a0539ae075690ecbc6b281bf08cb34027"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a0539ae075690ecbc6b281bf08cb34027">Quadruped::_kneeInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _kneeInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_quadruped_html_a044b85f13a9760daeab0b621058dc480"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a044b85f13a9760daeab0b621058dc480">Quadruped::_hipLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _hipLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_ad7a3e625f34f90f2b6c11223ad6878f1"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#ad7a3e625f34f90f2b6c11223ad6878f1">Quadruped::_hipGearRatio</a></div><div class="ttdeci">T _hipGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="namespacespatial_html_ae4a2145f3028087511b4f17c0152ec83"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">spatial::createSXform</a></div><div class="ttdeci">auto createSXform(const Eigen::MatrixBase&lt; T &gt; &amp;R, const Eigen::MatrixBase&lt; T2 &gt; &amp;r)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00140">spatial.h:140</a></div></div>
<div class="ttc" id="class_quadruped_html_aea326056e6c877eec1df1ef8564a1379"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">Quadruped::_kneeGearRatio</a></div><div class="ttdeci">T _kneeGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="class_floating_base_model_html_adcff6806f39aedf95a3723fc10c6144e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">FloatingBaseModel::addBody</a></div><div class="ttdeci">int addBody(const SpatialInertia&lt; T &gt; &amp;inertia, const SpatialInertia&lt; T &gt; &amp;rotorInertia, T gearRatio, int parent, JointType jointType, CoordinateAxis jointAxis, const Mat6&lt; T &gt; &amp;Xtree, const Mat6&lt; T &gt; &amp;Xrot)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00392">FloatingBaseModel.cpp:392</a></div></div>
<div class="ttc" id="class_quadruped_html_a13e1602042b4dbf584a66ac33d039ba1"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a13e1602042b4dbf584a66ac33d039ba1">Quadruped::_hipRotorInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _hipRotorInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_quadruped_html_a5bce20ce40e03068a0dd0a66a4ccf17e"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">Quadruped::_bodyWidth</a></div><div class="ttdeci">T _bodyWidth</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00060">Quadruped.h:60</a></div></div>
<div class="ttc" id="class_floating_base_model_html"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00069">FloatingBaseModel.h:69</a></div></div>
<div class="ttc" id="class_quadruped_html_a950a254ac9c328d16179df350da2ad3a"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a950a254ac9c328d16179df350da2ad3a">Quadruped::_abadInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _abadInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_quadruped_html_aee1c0e15f1c1e19ad0c07762f2969485"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#aee1c0e15f1c1e19ad0c07762f2969485">Quadruped::_kneeRotorLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _kneeRotorLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_a299025bd7dff225b4b8c49de160f5462"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a299025bd7dff225b4b8c49de160f5462">Quadruped::_bodyHeight</a></div><div class="ttdeci">T _bodyHeight</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00060">Quadruped.h:60</a></div></div>
<div class="ttc" id="class_quadruped_html_abf6f1fd5a7d18eee3ac046b3a4b25ca9"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#abf6f1fd5a7d18eee3ac046b3a4b25ca9">Quadruped::_bodyInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _bodyInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_quadruped_html_a3437c9695ff20d14849d05e6d4cd11c1"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a3437c9695ff20d14849d05e6d4cd11c1">Quadruped::_hipInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _hipInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aff2cddc3077b282fe3504ecd28bc08cb"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aff2cddc3077b282fe3504ecd28bc08cb">FloatingBaseModel::addGroundContactBoxPoints</a></div><div class="ttdeci">void addGroundContactBoxPoints(int bodyId, const Vec3&lt; T &gt; &amp;dims)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00360">FloatingBaseModel.cpp:360</a></div></div>
<div class="ttc" id="class_quadruped_html_a88e20574ef5d30111c3d893147c981ee"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a88e20574ef5d30111c3d893147c981ee">Quadruped::_kneeRotorInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _kneeRotorInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ab3dfc6605561bee26b4f7a893e44c78d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab3dfc6605561bee26b4f7a893e44c78d">FloatingBaseModel::addBase</a></div><div class="ttdeci">void addBase(const SpatialInertia&lt; T &gt; &amp;inertia)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00267">FloatingBaseModel.cpp:267</a></div></div>
<div class="ttc" id="class_quadruped_html_a7b1f06b7bd86935d53e32ea8b095669f"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">Quadruped::_abadLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _abadLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_ab4fd6842d2426e6c1d0658197ced7d18"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#ab4fd6842d2426e6c1d0658197ced7d18">Quadruped::_kneeLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _kneeLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
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template&lt;typename T&gt; </div>
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          <td class="memname">bool <a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt; T &gt;::buildModel </td>
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          <td class="paramtype"><a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>model</em></td><td>)</td>
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<p>Build a <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a> of the quadruped </p>

<p>Definition at line <a class="el" href="../../da/dfc/_quadruped_8cpp_source.html#l00021">21</a> of file <a class="el" href="../../da/dfc/_quadruped_8cpp_source.html">Quadruped.cpp</a>.</p>

<p>References <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00267">FloatingBaseModel&lt; T &gt;::addBase()</a>, <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00392">FloatingBaseModel&lt; T &gt;::addBody()</a>, <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00360">FloatingBaseModel&lt; T &gt;::addGroundContactBoxPoints()</a>, <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00319">FloatingBaseModel&lt; T &gt;::addGroundContactPoint()</a>, <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00140">spatial::createSXform()</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00171">FloatingBaseModel&lt; T &gt;::setGravity()</a>, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">ori::X</a>, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">ori::Y</a>, and <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">ori::Z</a>.</p>
<div class="fragment"><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;                                                         {</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="comment">// we assume the cheetah&#39;s body (not including rotors) can be modeled as a</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="comment">// uniformly distributed box.</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> bodyDims(<a class="code" href="../../dc/d66/class_quadruped.html#a7995e099afb704e1f22b3383a22d19aa">_bodyLength</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">_bodyWidth</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a299025bd7dff225b4b8c49de160f5462">_bodyHeight</a>);</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="comment">// model.addBase(_bodyMass, Vec3&lt;T&gt;(0,0,0), rotInertiaOfBox(_bodyMass,</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="comment">// bodyDims));</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#ab3dfc6605561bee26b4f7a893e44c78d">addBase</a>(<a class="code" href="../../dc/d66/class_quadruped.html#abf6f1fd5a7d18eee3ac046b3a4b25ca9">_bodyInertia</a>);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="comment">// add contact for the cheetah&#39;s body</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#aff2cddc3077b282fe3504ecd28bc08cb">addGroundContactBoxPoints</a>(5, bodyDims);</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> baseID = 5;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keywordtype">int</span> bodyID = baseID;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  T sideSign = -1;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> I3 = <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="comment">// loop over 4 legs</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> legID = 0; legID &lt; 4; legID++) {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="comment">// Ab/Ad joint</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="comment">//  int addBody(const SpatialInertia&lt;T&gt;&amp; inertia, const SpatialInertia&lt;T&gt;&amp;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="comment">//  rotorInertia, T gearRatio,</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">//              int parent, JointType jointType, CoordinateAxis jointAxis,</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">//              const Mat6&lt;T&gt;&amp; Xtree, const Mat6&lt;T&gt;&amp; Xrot);</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    bodyID++;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeAbad = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, withLegSigns&lt;T&gt;(<a class="code" href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">_abadLocation</a>, legID));</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeAbadRotor =</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, withLegSigns&lt;T&gt;(<a class="code" href="../../dc/d66/class_quadruped.html#abd6220626c711be53369e0126dc8fc2f">_abadRotorLocation</a>, legID));</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a950a254ac9c328d16179df350da2ad3a">_abadInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#a8f8b1c68a1b5f5ce0feaefd26c599b85">_abadRotorInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#af0eab931dddfe239a732e08a0e2007e3">_abadGearRatio</a>, baseID, JointType::Revolute,</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                    CoordinateAxis::X, xtreeAbad, xtreeAbadRotor);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a950a254ac9c328d16179df350da2ad3a">_abadInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a8f8b1c68a1b5f5ce0feaefd26c599b85">_abadRotorInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#af0eab931dddfe239a732e08a0e2007e3">_abadGearRatio</a>, baseID,</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                    JointType::Revolute, CoordinateAxis::X, xtreeAbad,</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                    xtreeAbadRotor);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    }</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="comment">// Hip Joint</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    bodyID++;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeHip =</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(coordinateRotation&lt;T&gt;(CoordinateAxis::Z, T(M_PI)),</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                     withLegSigns&lt;T&gt;(<a class="code" href="../../dc/d66/class_quadruped.html#a044b85f13a9760daeab0b621058dc480">_hipLocation</a>, legID));</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeHipRotor =</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(coordinateRotation&lt;T&gt;(CoordinateAxis::Z, T(M_PI)),</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                     withLegSigns&lt;T&gt;(<a class="code" href="../../dc/d66/class_quadruped.html#a46ef06f23e658471e013c2b769376ff2">_hipRotorLocation</a>, legID));</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a3437c9695ff20d14849d05e6d4cd11c1">_hipInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#a13e1602042b4dbf584a66ac33d039ba1">_hipRotorInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#ad7a3e625f34f90f2b6c11223ad6878f1">_hipGearRatio</a>, bodyID - 1, JointType::Revolute,</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                    CoordinateAxis::Y, xtreeHip, xtreeHipRotor);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a3437c9695ff20d14849d05e6d4cd11c1">_hipInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a13e1602042b4dbf584a66ac33d039ba1">_hipRotorInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#ad7a3e625f34f90f2b6c11223ad6878f1">_hipGearRatio</a>, bodyID - 1,</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                    JointType::Revolute, CoordinateAxis::Y, xtreeHip,</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                    xtreeHipRotor);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">// add knee ground contact point</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyID, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, 0, -<a class="code" href="../../dc/d66/class_quadruped.html#a2b1208249b4fa5e9dc3b08916fae04c7">_hipLinkLength</a>));</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="comment">// Knee Joint</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    bodyID++;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeKnee = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, <a class="code" href="../../dc/d66/class_quadruped.html#ab4fd6842d2426e6c1d0658197ced7d18">_kneeLocation</a>);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeKneeRotor = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, <a class="code" href="../../dc/d66/class_quadruped.html#aee1c0e15f1c1e19ad0c07762f2969485">_kneeRotorLocation</a>);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a0539ae075690ecbc6b281bf08cb34027">_kneeInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#a88e20574ef5d30111c3d893147c981ee">_kneeRotorInertia</a>.flipAlongAxis(CoordinateAxis::Y),</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                    <a class="code" href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">_kneeGearRatio</a>, bodyID - 1, JointType::Revolute,</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                    CoordinateAxis::Y, xtreeKnee, xtreeKneeRotor);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../dc/d66/class_quadruped.html#a0539ae075690ecbc6b281bf08cb34027">_kneeInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#a88e20574ef5d30111c3d893147c981ee">_kneeRotorInertia</a>, <a class="code" href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">_kneeGearRatio</a>, bodyID - 1,</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                    JointType::Revolute, CoordinateAxis::Y, xtreeKnee,</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                    xtreeKneeRotor);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    }</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="comment">// add foot</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyID, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, 0, -<a class="code" href="../../dc/d66/class_quadruped.html#ae752ca0d75b7e1ae759c1285be62d068">_kneeLinkLength</a>), <span class="keyword">true</span>);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    sideSign *= -1;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  }</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> g(0, 0, -9.81);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a32274ad578f7ad30bd79e786b62cdd62">setGravity</a>(g);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div><div class="ttc" id="class_quadruped_html_a2b1208249b4fa5e9dc3b08916fae04c7"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a2b1208249b4fa5e9dc3b08916fae04c7">Quadruped::_hipLinkLength</a></div><div class="ttdeci">T _hipLinkLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="class_quadruped_html_af0eab931dddfe239a732e08a0e2007e3"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#af0eab931dddfe239a732e08a0e2007e3">Quadruped::_abadGearRatio</a></div><div class="ttdeci">T _abadGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a3f2a319bbd26e5e7f91c7d3b980e28c4"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">FloatingBaseModel::addGroundContactPoint</a></div><div class="ttdeci">int addGroundContactPoint(int bodyID, const Vec3&lt; T &gt; &amp;location, bool isFoot=false)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00319">FloatingBaseModel.cpp:319</a></div></div>
<div class="ttc" id="class_quadruped_html_a8f8b1c68a1b5f5ce0feaefd26c599b85"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a8f8b1c68a1b5f5ce0feaefd26c599b85">Quadruped::_abadRotorInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _abadRotorInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a32274ad578f7ad30bd79e786b62cdd62"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a32274ad578f7ad30bd79e786b62cdd62">FloatingBaseModel::setGravity</a></div><div class="ttdeci">void setGravity(Vec3&lt; T &gt; &amp;g)</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00171">FloatingBaseModel.h:171</a></div></div>
<div class="ttc" id="class_quadruped_html_a7995e099afb704e1f22b3383a22d19aa"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a7995e099afb704e1f22b3383a22d19aa">Quadruped::_bodyLength</a></div><div class="ttdeci">T _bodyLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00060">Quadruped.h:60</a></div></div>
<div class="ttc" id="class_quadruped_html_ae752ca0d75b7e1ae759c1285be62d068"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#ae752ca0d75b7e1ae759c1285be62d068">Quadruped::_kneeLinkLength</a></div><div class="ttdeci">T _kneeLinkLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
<div class="ttc" id="class_quadruped_html_a46ef06f23e658471e013c2b769376ff2"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a46ef06f23e658471e013c2b769376ff2">Quadruped::_hipRotorLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _hipRotorLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_abd6220626c711be53369e0126dc8fc2f"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#abd6220626c711be53369e0126dc8fc2f">Quadruped::_abadRotorLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _abadRotorLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_a0539ae075690ecbc6b281bf08cb34027"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a0539ae075690ecbc6b281bf08cb34027">Quadruped::_kneeInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _kneeInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_quadruped_html_a044b85f13a9760daeab0b621058dc480"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a044b85f13a9760daeab0b621058dc480">Quadruped::_hipLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _hipLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_ad7a3e625f34f90f2b6c11223ad6878f1"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#ad7a3e625f34f90f2b6c11223ad6878f1">Quadruped::_hipGearRatio</a></div><div class="ttdeci">T _hipGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="namespacespatial_html_ae4a2145f3028087511b4f17c0152ec83"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">spatial::createSXform</a></div><div class="ttdeci">auto createSXform(const Eigen::MatrixBase&lt; T &gt; &amp;R, const Eigen::MatrixBase&lt; T2 &gt; &amp;r)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00140">spatial.h:140</a></div></div>
<div class="ttc" id="class_quadruped_html_aea326056e6c877eec1df1ef8564a1379"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">Quadruped::_kneeGearRatio</a></div><div class="ttdeci">T _kneeGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="class_floating_base_model_html_adcff6806f39aedf95a3723fc10c6144e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">FloatingBaseModel::addBody</a></div><div class="ttdeci">int addBody(const SpatialInertia&lt; T &gt; &amp;inertia, const SpatialInertia&lt; T &gt; &amp;rotorInertia, T gearRatio, int parent, JointType jointType, CoordinateAxis jointAxis, const Mat6&lt; T &gt; &amp;Xtree, const Mat6&lt; T &gt; &amp;Xrot)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00392">FloatingBaseModel.cpp:392</a></div></div>
<div class="ttc" id="class_quadruped_html_a13e1602042b4dbf584a66ac33d039ba1"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a13e1602042b4dbf584a66ac33d039ba1">Quadruped::_hipRotorInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _hipRotorInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_quadruped_html_a5bce20ce40e03068a0dd0a66a4ccf17e"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">Quadruped::_bodyWidth</a></div><div class="ttdeci">T _bodyWidth</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00060">Quadruped.h:60</a></div></div>
<div class="ttc" id="class_quadruped_html_a950a254ac9c328d16179df350da2ad3a"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a950a254ac9c328d16179df350da2ad3a">Quadruped::_abadInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _abadInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
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<div class="ttc" id="class_quadruped_html_a299025bd7dff225b4b8c49de160f5462"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a299025bd7dff225b4b8c49de160f5462">Quadruped::_bodyHeight</a></div><div class="ttdeci">T _bodyHeight</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00060">Quadruped.h:60</a></div></div>
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<div class="ttc" id="class_quadruped_html_a3437c9695ff20d14849d05e6d4cd11c1"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a3437c9695ff20d14849d05e6d4cd11c1">Quadruped::_hipInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _hipInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aff2cddc3077b282fe3504ecd28bc08cb"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aff2cddc3077b282fe3504ecd28bc08cb">FloatingBaseModel::addGroundContactBoxPoints</a></div><div class="ttdeci">void addGroundContactBoxPoints(int bodyId, const Vec3&lt; T &gt; &amp;dims)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00360">FloatingBaseModel.cpp:360</a></div></div>
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<div class="ttc" id="class_floating_base_model_html_ab3dfc6605561bee26b4f7a893e44c78d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab3dfc6605561bee26b4f7a893e44c78d">FloatingBaseModel::addBase</a></div><div class="ttdeci">void addBase(const SpatialInertia&lt; T &gt; &amp;inertia)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00267">FloatingBaseModel.cpp:267</a></div></div>
<div class="ttc" id="class_quadruped_html_a7b1f06b7bd86935d53e32ea8b095669f"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">Quadruped::_abadLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _abadLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
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<p>Get location of the hip for the given leg in robot frame </p>

<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00083">83</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                                  {</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    assert(leg &gt;= 0 &amp;&amp; leg &lt; 4);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> pHip((leg == 0 || leg == 1) ? <a class="code" href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">_abadLocation</a>(0) : -<a class="code" href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">_abadLocation</a>(0),</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                 (leg == 1 || leg == 3) ? <a class="code" href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">_abadLocation</a>(1) : -<a class="code" href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">_abadLocation</a>(1),</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                 <a class="code" href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">_abadLocation</a>(2));</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordflow">return</span> pHip;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  }</div><div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_quadruped_html_a7b1f06b7bd86935d53e32ea8b095669f"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">Quadruped::_abadLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _abadLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00074">74</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                                {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">const</span> T sideSigns[4] = {-1, 1, -1, 1};</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    assert(leg &gt;= 0 &amp;&amp; leg &lt; 4);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span> sideSigns[leg];</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div></div><!-- fragment -->
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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00061">61</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00066">66</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00062">62</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00063">63</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00060">60</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00066">66</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00060">60</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00060">60</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00060">60</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00061">61</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt;T&gt; <a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt; T &gt;::_hipInertia</td>
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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00066">66</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00062">62</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00068">68</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00066">66</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00068">68</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00065">65</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00065">65</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00061">61</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00066">66</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00062">62</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00068">68</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00066">66</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00068">68</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00062">62</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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          <td class="memname">T <a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt; T &gt;::_motorKT</td>
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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00063">63</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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          <td class="memname">T <a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt; T &gt;::_motorR</td>
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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00063">63</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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          <td class="memname">T <a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt; T &gt;::_motorTauMax</td>
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<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00064">64</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00059">59</a> of file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
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<li><a class="el" href="../../da/dfc/_quadruped_8cpp_source.html">Quadruped.cpp</a></li>
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